version: 66.02
glider: 118
mission: 6
dive: 191
start: 9 27 107 21 0 22
data:
$ID,118
$MISSION,6
$DIVE,191
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17186.184
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3229
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-6.9690108
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,205045,4739.375,-12253.220,12,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.9
$GPS2,210005,4739.377,-12253.275,15,2.1,34,18.3
$SPEED_LIMITS,0.115,0.209
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,63.0,1103,-13.9,-6.667
$D_GRID,90
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-1.54,-122.2,0.0,0.0,0,82,0.00,0.00,-53.17,0.000,2,0.000,0.000,424,2504,2921
$GC,86,-1.54,-122.2,2.1,-3.0,9,130,12.40,2.62,-25.92,0.000,4,0.156,0.079,2656,3890,3730
$GC,243,-1.54,-122.2,12.2,-5.9,33,249,0.00,2.38,0.00,0.000,6,0.000,0.030,2656,2486,3732
$GC,315,-1.54,-122.2,16.1,-5.5,44,322,0.00,2.40,0.00,0.000,4,0.000,0.047,2656,1116,3733
$GC,395,-1.54,-122.2,21.0,-6.3,55,399,0.00,2.38,0.00,0.000,6,0.000,0.031,2656,2494,3734
$GC,591,-1.54,-122.2,32.4,-5.7,70,595,0.00,2.58,0.00,0.000,4,0.000,0.067,2656,3900,3735
$GC,669,-1.54,-122.2,37.7,-6.7,75,676,0.00,2.40,0.00,0.000,6,0.000,0.031,2656,2494,3735
$GC,866,-1.54,-122.2,49.8,-6.2,91,870,0.00,2.58,0.00,0.000,4,0.000,0.065,2657,3893,3735
$GC,925,-1.54,-122.2,53.8,-7.1,95,929,0.00,2.35,0.00,0.000,6,0.000,0.032,2656,2505,3735
$GC,1122,-1.54,-122.2,66.9,-6.6,110,1126,0.00,2.58,0.00,0.000,4,0.000,0.066,2656,3899,3735
$GC,1235,-1.54,-122.2,74.8,-6.7,118,1239,0.00,2.38,0.00,0.000,6,0.000,0.032,2656,2495,3735
$GC,1431,-1.54,-122.2,88.1,-6.5,133,1436,0.00,2.58,0.00,0.000,4,0.000,0.065,2656,3893,3735
$STATE,1465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1465,begin apogee
$GC,1473,-0.50,0.0,90.5,7.6,135,1576,1.10,0.00,96.22,0.589,6,0.091,0.000,2883,2407,3228
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1580,1.54,122.2,93.3,0.0,144,1680,2.08,0.00,94.07,0.571,6,0.062,0.000,3332,2407,2729
$GC,1867,1.54,122.2,69.7,9.8,167,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2408,2727
$GC,2057,1.54,122.2,51.1,9.8,182,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2407,2727
$GC,2247,1.54,122.2,33.2,9.3,197,2251,0.00,2.60,0.00,0.000,4,0.000,0.064,3332,3815,2728
$GC,2298,1.54,122.2,27.8,9.7,200,2305,0.00,2.42,0.00,0.000,6,0.000,0.031,3332,2419,2728
$GC,2500,1.54,122.2,10.0,8.0,224,2506,0.00,2.50,0.00,0.000,4,0.000,0.052,3332,1015,2727
$STATE,2616,end climb,SURFACE_DEPTH_REACHED
$STATE,2616,begin surface coast
$FINISH,0.8,1.025914
$STATE,2643,end surface coast,CONTROL_FINISHED_OK
$STATE,2644,begin surface
$SM_CCo,2674,137.15,0.521,1,0,1597,400.08
$SM_GC,0.74,0.00,0.00,137.15,0.000,0.000,0.521,424,2508,1597,-11.85,0.23,400.08
$IRIDIUM_FIX,4722.92,-12251.79,280907,000052
$TT8_MAMPS,0.06903
$HUMID,1796
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,65.2,999.0
$24V_AH,24.1,15.228
$10V_AH,10.1,10.386
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.675,39.925,190.300,137.150,0.000,76.245,69.355,194.333,1.500,0.000,3430.000,35.666,465.576,1506.355,420.638,468.602,527.486,0.000,700.511,0.000,453.311,0.000,7.141
$DEVICE_MAMPS,155.701,79.001,589.056,520.793,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.644,0.000,0.000,0.000,0.000,0.000,0.000,3430.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,246
$CFSIZE,260034560,251666432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,214832,4739.254,-12252.994,13,1.3,30,18.3